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Negative obstacle detection by thermal signature

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dc.contributor.author Matthies, Larry
dc.contributor.author Rankin, A.
dc.date.accessioned 2006-03-13T23:04:59Z
dc.date.available 2006-03-13T23:04:59Z
dc.date.issued 2003-10-27
dc.identifier.citation International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, October 27, 2003. en
dc.identifier.clearanceno 03-1267
dc.identifier.uri http://hdl.handle.net/2014/38877
dc.description.abstract Detecting negative obstacles (ditches, potholes, and other depressions) is one of the most difficult problems in perception for autonomous, off-road navigation. Past work has largely relied on range imagery, because that is based on the geometry of the obstacle, is largely insensitive to illumination variables, and because there have not been other reliable alternatives. However, the visible aspect of negative obstacles shrinks rapidly with range, making them impossible to detect in time to avoid them at high speed. To relive this problem, we show that the interiors of negative obstacles generally remain warmer than the surrounding terrain throughout the night, making thermal signature a stable property for night-time negative obstacle detection. Experimental results to date have achieved detection distances 45% greater by using thermal signature than by using range data alone. Thermal signature is the first known observable with potential to reveal a deep negative obstacle without actually seeing far into it. Modeling solar illumination has potential to extend the usefulness of thermal signature through daylight hours. en
dc.description.sponsorship NASA/JPL en
dc.format.extent 1147618 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US en
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2003. en
dc.subject off-road navigation en
dc.subject negative obstacles en
dc.subject unmanned ground vehicles (UGV's) en
dc.title Negative obstacle detection by thermal signature en
dc.type Preprint en


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